From 4d0dca5dd5739d05de9660ee45cf3ff8ec1d219b Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Sat, 16 Dec 2017 10:14:15 +0100
Subject: [PATCH] FlightTask: make applyCommandParameters getting called
 recursively & pass command by reference

---
 src/lib/FlightTasks/tasks/FlightTask.hpp       | 2 +-
 src/lib/FlightTasks/tasks/FlightTaskManual.hpp | 2 +-
 src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp  | 8 ++++----
 src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp  | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 11cb909fe0..42b784a793 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -76,7 +76,7 @@ public:
 	 * To be called to adopt parameters from an arrived vehicle command
 	 * @return true if accepted, false if declined
 	 */
-	virtual bool applyCommandParameters(vehicle_command_s command) = 0;
+	virtual bool applyCommandParameters(const vehicle_command_s &command) { return true; };
 
 	/**
 	 * Call before activate() or update()
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
index 733a256fca..0f47613837 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
@@ -56,7 +56,7 @@ public:
 
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
 
-	bool applyCommandParameters(vehicle_command_s command) override { return false; };
+	bool applyCommandParameters(const vehicle_command_s &command) override { return FlightTask::applyCommandParameters(command); };
 
 	bool updateInitialize() override;
 
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
index 97d45e970d..183249bc08 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
@@ -51,16 +51,16 @@ FlightTaskOrbit::FlightTaskOrbit(control::SuperBlock *parent, const char *name)
 	_sticks_data_required = false;
 }
 
-bool FlightTaskOrbit::applyCommandParameters(vehicle_command_s command)
+bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 {
-	float &r = command.param3; /**< commanded radius */
-	float &v = command.param4; /**< commanded velocity */
+	const float &r = command.param3; /**< commanded radius */
+	const float &v = command.param4; /**< commanded velocity */
 
 	if (math::isInRange(r, 5.f, 50.f) &&
 	    fabs(v) < 10.f) {
 		_r = r;
 		_v = v;
-		return true;
+		return FlightTaskManual::applyCommandParameters(command);
 	}
 
 	return false;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
index 142987a2d6..ce501f6f88 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
@@ -50,7 +50,7 @@ public:
 
 	virtual ~FlightTaskOrbit() = default;
 
-	bool applyCommandParameters(vehicle_command_s command) override;
+	bool applyCommandParameters(const vehicle_command_s &command) override;
 
 	bool activate() override;